背负式串联攀爬结构检测机器人运动控制设计

Motion control design of knapsack series climbing structure inspection robot

通过研究活立木无损检测的过程,发现检测环境复杂,需要工作人员背负检测仪进行高难度检测作业,为了更加方便攀爬作业,设计一款串联式缠绕爬升的机器人.设计过程对机器人的机械结构进行三维建模,根据结构模型及运动情况建立机器人运动学模型,并对机器人的控制器进行设计,利用MATLAB/simulink进行控制器仿真并得到验证,控制器算法仿真采用纯跟踪算法.经过仿真实验结果表明,控制效果显著,误差较小.该机器人能实现向上、向下的连续攀爬和背负检测设备功能,适用于需要攀爬的活立木无损检测环境中.

Through studying the process of non-destructive testing of standing timbers,it is found that the testing environment is complex and requires the staff to carry the detector on their backs for difficult testing operations.In order to make climbing operations more convenient,a tandem winding climbing robot is designed.In this design,three-dimensional modeling of the mechanical structure of the robot is carried out,and the kinematics model of the robot is established according to the structure model and movement conditions,and the controller of the robot is designed.The controller is simulated and verified by MATLAB/simulink,and the controller algorithm is simulated,use pure tracking algorithm.After the simulation test,the results show that the control effect is significant and the error is small.The robot can realize the function of continuous climbing upwards and downwards and carrying detection equipment,which is suitable for non-destructive testing environment of living standing wood that needs to be climbed.